When Simpson learned he was going to be freed, his pointed to Fromong and simply said: "Thank you!"

On the way out, Simpson looked at him and made a phone gesture with his hand, which Fromong took as a sign that he should call him, he told Inside Edition. "And his sister asked me for my phone number," he added.

Simpson also told him: "You're holding up good too, man! All these years!"

Fromong told Inside Edition's Jim Moret, "It was good to see him, Jim. I have to say I wanted to shake his hand."

But he was not allowed to, Fromong said.

Simpson's long-time friend, Tom Scotto, was also at the hearing, where he sat beside Simpson's sister, Shirley Baker. Simpson was in Las Vegas to be best man at Scotto's wedding when Simpson and others carried out the robbery targeting Fromong, who was selling Simpson sports memorabilia.

On Thursday, Scotto said he spent two hours celebrating with Simpson after the panel's decision.